TWM541192U - Automatic mowing structure - Google Patents
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- TWM541192U TWM541192U TW105218596U TW105218596U TWM541192U TW M541192 U TWM541192 U TW M541192U TW 105218596 U TW105218596 U TW 105218596U TW 105218596 U TW105218596 U TW 105218596U TW M541192 U TWM541192 U TW M541192U
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Description
本創作關於一種自動割草結構，特別是指一種藉由無線操作並且無須使用人力進行割草作業之機器人，避免割草作業產生日曬與過敏現象以及保障作業人員生命安全之結構者。 This creation relates to an automatic mowing structure, in particular to a robot that operates wirelessly and does not require manpower to perform mowing operations, avoids sun exposure and allergies in mowing operations, and structures that ensure the safety of workers.
按，為了環境美觀以及避免病媒蟲孳生，清潔人員需要定期除草，除了草地外，大部分環境都有高低差，必須透過人力進行割草作業，而割草的方式都是使用者揹著引擎而手持割草機割除雜草。 According to the environment, and to avoid the disease, the cleaning staff needs regular weeding. Except for the grass, most of the environment has height difference. The grass must be cut by manpower. The mowing method is the user carrying the engine. The hand mower removes weeds.
然而，習用割草機其實具有下列的缺點： However, conventional lawn mowers have the following disadvantages:
1.習用結構需要透過人力進行割草作業，而割草機具有一定的重量，並且，割草作業大多選在天氣良好的情況下，機具重量以及日曬對使用者而言相當耗費體力。 1. The conventional structure requires man-made mowing work, and the mower has a certain weight, and most of the mowing operations are selected in the case of good weather, and the weight of the implement and the sun exposure are quite labor-intensive for the user.
2.呈上所述，由於習用割草機都是以人力進行作業，割除的雜草、石頭可能噴濺到人體上，造成使用者身體過敏、受傷的問題。 2. As mentioned above, since the conventional mower is operated by manpower, the weeds and stones cut off may be sprayed on the human body, causing the user to be allergic and injured.
3.由於割草作業都是要透過人力進行作業，當在高速公路、快速公路進行割草作業時，若駕駛人沒注意有人員在前方進行割草作業時，會發生交通事故，相當危險。 3. Because mowing operations are carried out by manpower, when mowing on expressways and expressways, if the driver does not pay attention to the fact that there are people in front of the mowing operation, traffic accidents will occur, which is quite dangerous.
4.習用割草機大多需要使用汽油才能使引擎運轉，而引擎所造成的噪 音、廢氣對於人體、環境有害。 4. Most of the conventional lawn mowers need to use gasoline to make the engine run, and the noise caused by the engine. Sound and exhaust are harmful to the human body and the environment.
本創作即是改善習用結構之缺點，主要技術在於：提供一種無須使用者親自操作之割草機即可對欲割草的區域進行割草作業。 This creation is to shorten the shortcomings of the conventional structure. The main technique is to provide a lawn mower that can be mowing the grass without the user's own operation.
可達上述目的之結構，主要包含有： The structure that can achieve the above purposes mainly includes:
一驅動模組，其包含有一驅動器，該驅動器接受命令後驅動使得自動割草結構產生位移。 A drive module includes a drive that receives a command to drive a displacement of the automatic mowing structure.
一割草模組，其包含有一架體，一割草刀具、一升降裝置、一旋轉裝置以及一擺動幅度調節裝置所構成，該割草刀具裝設在該架體上，且該割草刀具設有一導桿，該架體下方設置該升降裝置及該旋轉裝置，該升降裝置用於控制割草刀具高度，而該旋轉裝置則使用四連桿機構控制該割草刀具產生左、右旋轉擺動效果，該擺動幅度調節裝置則用於控制該割草刀具之左右擺動幅度。 a mowing module comprising a body, a mowing cutter, a lifting device, a rotating device and a swing amplitude adjusting device, the mowing cutter being mounted on the frame, and the mowing cutter a guiding rod is disposed, the lifting device and the rotating device are arranged under the frame, the lifting device is used for controlling the height of the mowing tool, and the rotating device controls the mowing tool to generate left and right rotation swings by using a four-bar linkage mechanism The effect of the swing amplitude adjusting device is to control the left and right swing amplitude of the mowing cutter.
一避障模組，其包含有一攝影單元以及一超音波單元，該攝影單元透過影像判定周遭是否有障礙物、工作環境判斷來改變割草高度以及割草刀具之左右擺動幅度的大小，該超音波單元則產生一超音波，若接收反射波時則判定周遭有障礙物，並引導該自動割草結構迴避障礙物。 An obstacle avoidance module includes a photographing unit and an ultrasonic unit. The photographing unit determines whether there is an obstacle or a working environment judgment through the image to change the mowing height and the magnitude of the left and right swing amplitude of the mowing cutter. The sonic unit generates an ultrasonic wave, and if it receives the reflected wave, it determines that there is an obstacle around it, and guides the automatic mowing structure to avoid the obstacle.
一路徑規劃導航模組，其包含有一GPS系統以及一導航單元，該GPS系統用於判斷該自動割草結構所在位置，而導航單元則提供工作區座標路徑規劃。 A path planning navigation module includes a GPS system and a navigation unit for determining a location of the automatic mowing structure, and the navigation unit provides a work area coordinate path planning.
一控制模組，其與該驅動模組、該割草模組、該避障模組、該路徑規劃導航模組電性連結，藉由該控制模組達到操控自動割草結構進 行除草作業。 a control module electrically connected to the driving module, the mowing module, the obstacle avoidance module, and the path planning navigation module, and the control module realizes the automatic mowing structure Weeding operations.
本創作主要遠端操作自動割草機構進行割草作業，該驅動模組受控制模組及路徑規劃導航模組控制帶動自動割草結構前往指定割草位置，該避障模組則判定路線及工作範圍內是否有障礙物，而該割草模組可依需求調整割草高度、改變割草左右擺動的幅度，避開障礙物，使得進行割草作業無須透過人力。 The main remote operation automatic mowing mechanism is used for mowing operation, and the driving module is controlled by the control module and the path planning navigation module to drive the automatic mowing structure to the designated mowing position, and the obstacle avoidance module determines the route and Whether there are obstacles in the working range, and the mowing module can adjust the mowing height according to the demand, change the amplitude of the mowing around the mowing, and avoid the obstacles, so that the mowing operation does not need to pass through the manpower.
其中，該控制模組進一步包含一無線傳輸模組以及一遠端控制裝置，該無線傳輸模組用於接收該遠端控制裝置的指令，進而對自動割草結構下達命令前往作業區域進行割草作業。 The control module further includes a wireless transmission module and a remote control device, and the wireless transmission module is configured to receive the instruction of the remote control device, and then issue a command to the automatic mowing structure to go to the work area for mowing operation.
其中，該升降裝置透過一升降馬達以及一螺桿所構成，藉由該升降馬達帶動該螺桿產生垂直移動使得割草刀具產生升降效果。 Wherein, the lifting device is formed by a lifting motor and a screw, and the lifting motor drives the screw to generate vertical movement, so that the mowing tool has a lifting effect.
其中，該旋轉裝置包含有一四連桿機構以及一旋轉馬達所構成，藉由該旋轉馬達帶動該四連桿機構使得該割草刀具產生左右擺動的功能。 Wherein, the rotating device comprises a four-bar linkage mechanism and a rotating motor, and the four-bar linkage mechanism is driven by the rotating motor to cause the mowing tool to function to swing left and right.
其中，該擺動幅度調節裝置以一馬達及一螺桿所構成，藉由該馬達帶動該螺桿產生水平移動，改變割草機導桿支撐點兩邊力臂長度的比例，則用於控制該割草刀具之左右擺動幅度的大小。 Wherein, the swing amplitude adjusting device is composed of a motor and a screw, and the motor drives the screw to generate horizontal movement, and changes the proportion of the length of the arm on both sides of the support point of the lawn mower, and is used to control the mowing cutter The magnitude of the swing amplitude.
其中，該驅動裝置包含有二驅動輪，二該驅動輪與該驅動器連接帶動割草機器人產生位移效果。 Wherein, the driving device comprises two driving wheels, and the driving wheel is coupled with the driving device to drive the mowing robot to generate a displacement effect.
其中，二該驅動輪上進一步裝設一光編碼盤以及一紅外線感測器，該紅外線感測器配合光編碼盤用於計算二該驅動輪的轉速，並配合驅動器改變轉速，校正二該驅動輪轉速達到一致，使得行走方向為直線。 Wherein, the driving wheel is further provided with an optical encoder disk and an infrared sensor, wherein the infrared sensor is matched with the optical encoder disk for calculating the rotation speed of the driving wheel, and the driving speed is changed to correct the driving. The wheel speeds are consistent, making the direction of travel straight.
其中，該驅動器為一直流馬達。且使用直流馬達旋轉電位調整器改變驅動輪馬達的驅動電壓，達到驅動輪轉速的調整而達到轉彎及行走路徑的校正。 Wherein, the driver is a DC motor. And the DC motor rotation potential adjuster is used to change the driving voltage of the driving wheel motor to achieve the adjustment of the driving wheel speed to achieve the correction of the turning and the walking path.
其中，該割草刀具前端設有一輔助件，藉由該輔助件使得該割草刀具不接觸地面達到保護刀具及人員的安全。 Wherein, the front end of the mowing cutter is provided with an auxiliary component, and the auxiliary cutter makes the mowing cutter not touch the ground to protect the safety of the cutter and the personnel.
其中，該控制模組進一步配合加速度感測器、電子羅盤計算該自動割草結構的移動位置與方向，使用紅外線感測器與光編碼盤計算驅動輪的轉速。 The control module further calculates the moving position and direction of the automatic mowing structure with the acceleration sensor and the electronic compass, and calculates the rotation speed of the driving wheel by using the infrared sensor and the optical encoder disk.
100‧‧‧自動割草結構 100‧‧‧Automatic mowing structure
10‧‧‧驅動模組 10‧‧‧Drive Module
11‧‧‧驅動器 11‧‧‧ Drive
12‧‧‧驅動輪 12‧‧‧Drive wheel
13‧‧‧光編碼盤 13‧‧‧Light code disk
14‧‧‧紅外線感測器 14‧‧‧Infrared sensor
20‧‧‧割草模組 20‧‧‧ mowing module
21‧‧‧架體 21‧‧‧ ‧ body
22‧‧‧割草刀具 22‧‧‧Mow cutting tool
221‧‧‧導桿 221‧‧‧guides
222‧‧‧輔助件 222‧‧‧Auxiliary parts
23‧‧‧升降裝置 23‧‧‧ Lifting device
231‧‧‧升降馬達 231‧‧‧ Lift motor
232‧‧‧螺桿 232‧‧‧ screw
24‧‧‧旋轉裝置 24‧‧‧Rotating device
241‧‧‧四連桿機構 241‧‧‧ four-bar linkage
242‧‧‧旋轉馬達 242‧‧‧Rotary motor
25‧‧‧擺動幅度調節裝置 25‧‧‧Swing amplitude adjustment device
30‧‧‧避障模組 30‧‧‧ obstacle avoidance module
31‧‧‧攝影單元 31‧‧‧Photographic unit
32‧‧‧超音波單元 32‧‧‧Supersonic unit
40‧‧‧路徑規劃導航模組 40‧‧‧Path Planning Navigation Module
41‧‧‧GPS系統 41‧‧‧GPS system
42‧‧‧導航單元 42‧‧‧Navigation unit
50‧‧‧控制模組 50‧‧‧Control module
51‧‧‧無線傳輸模組 51‧‧‧Wireless Transmission Module
52‧‧‧遠端控制裝置 52‧‧‧Remote control device
第1圖係本創作之系統方塊圖。 Figure 1 is a block diagram of the system of this creation.
第2圖係本創作之結構示意圖。 Figure 2 is a schematic diagram of the structure of the creation.
第3圖係該升降裝置帶動該割草刀具升降之動作示意圖。 Fig. 3 is a schematic view showing the movement of the mowing tool by the lifting device.
第4圖係該旋轉裝置帶動該割草刀具旋擺之動作示意圖。 Fig. 4 is a schematic view showing the action of the rotary device driving the mowing cutter.
第5圖係該擺動幅度調節裝置調整割草刀具導桿水平位置之動作示意圖。 Fig. 5 is a schematic view showing the action of adjusting the horizontal position of the mowing tool guide by the swing amplitude adjusting device.
第6、7圖係該擺動幅度調節裝置擺幅調整示意圖。 Figures 6 and 7 are schematic views of the swing adjustment of the swing amplitude adjusting device.
第8圖係該避障模組之判斷方塊圖。 Figure 8 is a block diagram of the obstacle avoidance module.
為使貴 審查委員能對本案之特徵與其特點有更進一步之了解與認同，茲列舉以下較佳之實施例並配合圖式說明如下： In order to enable your review board to have a better understanding and recognition of the characteristics and characteristics of the case, the following preferred examples are listed below with the following description:
請參閱第1至8圖，本創作自動割草結構100主要包含有：一 驅動模組10、一割草模組20、一避障模組30、一路徑規劃導航模組40以及一控制模組50所構成。 Please refer to Figures 1 to 8. The automatic mowing structure 100 of the present invention mainly comprises: The driving module 10, a mowing module 20, an obstacle avoidance module 30, a path planning navigation module 40, and a control module 50 are formed.
請參閱第1圖，該驅動模組10其包含有一驅動器11，該驅動器11為一直流馬達透過旋轉電位調整器改變驅動輪馬達的驅動電壓，該驅動器11接受命令後驅動使得自動割草結構100產生位移。 Referring to FIG. 1 , the driving module 10 includes a driver 11 for changing a driving voltage of a driving wheel motor by a DC motor through a rotary potential adjuster. The driver 11 is driven by a command to drive the automatic mowing structure 100. Produce displacement.
請參閱第2至7圖，該割草模組20其包含有一架體21，一割草刀具22、一升降裝置23、一旋轉裝置24所構成，該割草刀具22裝設在該架體21上，且該割草刀具22設有一導桿221，該架體21下方設置該升降裝置23及該旋轉裝置24，該割草刀具22進一步包含一用於調節割草刀具22之導桿221水平位置之擺動幅度調節裝置25，該升降裝置23用於控制割草刀具22高度，而該旋轉裝置24透過四連桿機構241控制割草刀具22產生左、右擺動效果，而該擺動幅度調節裝置25控制該割草刀具22之擺動幅度大小的調節。 Referring to FIGS. 2-7, the mowing module 20 includes a body 21, a mowing cutter 22, a lifting device 23, and a rotating device 24, and the mowing cutter 22 is mounted on the frame. 21, and the mowing cutter 22 is provided with a guiding rod 221. The lifting device 23 and the rotating device 24 are disposed below the frame body 21. The mowing cutter 22 further includes a guiding rod 221 for adjusting the mowing cutter 22. a horizontal position swing amplitude adjusting device 25 for controlling the height of the mowing cutter 22, and the rotating device 24 controls the mowing cutter 22 to generate left and right swing effects through the four-bar linkage mechanism 241, and the swing amplitude adjustment The device 25 controls the adjustment of the magnitude of the swing of the mowing cutter 22.
請參閱第1、8圖，該避障模組30其包含有一攝影單元31以及一超音波單元32，該攝影單元31透過影像判定周遭是否有障礙物及工作環境，而超音波單元32則產生一超音波，若接收反射波時則判定周遭有障礙物，並透過控制模組50產生一迴避障礙物路徑。 Referring to FIGS. 1 and 8 , the obstacle avoidance module 30 includes a photographing unit 31 and an ultrasonic unit 32. The photographing unit 31 determines whether there is an obstacle and a working environment through the image, and the ultrasonic unit 32 generates An ultrasonic wave, if receiving a reflected wave, determines that there is an obstacle around, and generates an avoidance obstacle path through the control module 50.
請參閱第1圖，該路徑規劃導航模組40其包含有一GPS系統41以及一導航單元42，該GPS系統41用於判斷該自動割草結構100所在位置，而導航單元42則提供工作區座標路徑規劃。 Referring to FIG. 1 , the path planning navigation module 40 includes a GPS system 41 for determining the location of the automatic mowing structure 100 and a navigation unit 42 for providing a working area coordinate. route plan.
請參閱第1圖，該控制模組50其與該驅動模組10、該割草模組20、該避障模組30、該路徑規劃導航模組40電性連結，藉由該控制模組50達到操控自動割草結構進行除草作業。 Referring to FIG. 1 , the control module 50 is electrically connected to the driving module 10 , the mowing module 20 , the obstacle avoidance module 30 , and the path planning navigation module 40 . 50 to achieve the control of automatic mowing structure for weeding operations.
是以，上述即為本創作自動割草結構100各部構件及其組裝方式介紹，接著再將其使用特點介紹如下： Therefore, the above is the introduction of each component of the automatic mowing structure 100 and its assembly method, and then its use characteristics are as follows:
首先請參閱第1至8圖，本創作主要遠端操作自動割草結構100進行割草作業，該驅動模組10受控制模組50及路徑規劃導航模組40控制帶動自動割草結構前往指定割草位置，該避障模組30則判定路線及工作範圍內是否有障礙物，而該割草模組20可依需求調整割草高度、範圍，使得進行割草作業無須透過人力親自操作，避免割草過程中受到傷害。 First, please refer to the figures 1 to 8. The main remote operation automatic mowing structure 100 is used for mowing operation, and the driving module 10 is controlled by the control module 50 and the path planning navigation module 40 to drive the automatic mowing structure to specify In the mowing position, the obstacle avoidance module 30 determines whether there is an obstacle in the route and the working range, and the mowing module 20 can adjust the mowing height and range according to requirements, so that the mowing operation does not need to be manually operated. Avoid getting hurt during mowing.
請參閱第1圖，該控制模組50進一步包含一無線傳輸模組51以及一遠端控制裝置52，該無線傳輸模組51用於接收該遠端控制裝置52的指令，進而對自動割草結構100下達命令前往作業區域進行割草作業。 Referring to FIG. 1 , the control module 50 further includes a wireless transmission module 51 and a remote control device 52. The wireless transmission module 51 is configured to receive the command of the remote control device 52, and then automatically cut the grass. Structure 100 issues an order to the work area for mowing.
請參閱第1至3圖，該升降裝置23透過一升降馬達231以及一螺桿232所構成，藉由該升降馬達231帶動該螺桿232產生垂直升降使得割草刀具22產生升降效果。 Referring to FIGS. 1 to 3, the lifting device 23 is formed by a lifting motor 231 and a screw 232. The lifting motor 231 drives the screw 232 to generate vertical lifting, so that the mowing tool 22 has a lifting effect.
請參閱第1、4、6、7圖，該旋轉裝置24包含有一四連桿機構241以及一旋轉馬達242所構成，藉由該旋轉馬達242帶動該四連桿機構241使得該割草刀具22產生旋轉。 Referring to Figures 1, 4, 6, and 7, the rotating device 24 includes a four-bar linkage mechanism 241 and a rotary motor 242. The rotary motor 242 drives the four-bar linkage mechanism 241 to make the mowing cutter. 22 produces a rotation.
請參閱第1、2圖，該驅動裝置包含有二驅動輪12，二該驅動輪12與該驅動器11連接帶動自動割草結構100產生位移效果。並且二該驅動輪12上進一步裝設一光編碼盤13以及一紅外線感測器14，該紅外線感測器14用於配合該光編碼盤13計算二該驅動輪12的轉速，並配合驅動器11改變轉速，校正二該驅動輪12轉速達到一致，使得行走方向為直線。 Referring to Figures 1 and 2, the driving device includes two driving wheels 12, and the driving wheel 12 is coupled with the driving device 11 to drive the automatic mowing structure 100 to produce a displacement effect. And the driving wheel 12 is further provided with an optical encoder disk 13 and an infrared sensor 14 for calculating the rotation speed of the driving wheel 12 in cooperation with the optical encoder disk 13 and cooperating with the driver 11 The rotation speed is changed, and the rotation speed of the driving wheel 12 is corrected to be uniform, so that the traveling direction is a straight line.
請參閱第1、2、5、6、7圖，該割草刀具22前端設有一輔助 件222，藉由該輔助件222使得該割草刀具22不接觸地面達到保護刀具之效果。此外，透過該調節裝置25控制該割草刀具22水平位置控制割草刀具22擺動幅度，使得割草刀具22保持適當的水平距離，避免重心偏移。 Please refer to the figures 1, 2, 5, 6, and 7. The front end of the mowing cutter 22 is provided with an auxiliary. The piece 222, by the auxiliary member 222, causes the mowing cutter 22 to contact the ground to achieve the effect of protecting the cutter. Further, the horizontal position of the mowing cutter 22 is controlled by the adjusting device 25 to control the swinging amplitude of the mowing cutter 22 so that the mowing cutter 22 maintains an appropriate horizontal distance to avoid the center of gravity shift.
請參閱第8圖，該避障模組30主要透過影像以及超音波判定該除草機機器人周邊是否有障礙物及工作環境，首先該攝影單元31判斷障礙物大小，同時擷取障礙物影響通知操作人員，接著，該超音波單元32定時產生超音波，若該超音波單元32接收到超音波之反射波時，則判定周遭有障礙物，當判斷障礙物影響割草作業時，則該路徑規劃導航模組40規劃新的作業路徑。 Referring to FIG. 8 , the obstacle avoidance module 30 mainly determines whether there is an obstacle or a working environment around the lawnmower robot through the image and the ultrasonic wave. First, the photographing unit 31 determines the size of the obstacle and simultaneously draws an obstacle influence notification operation. Personnel, then, the ultrasonic unit 32 periodically generates an ultrasonic wave, and if the ultrasonic unit 32 receives the reflected wave of the ultrasonic wave, it determines that there is an obstacle around, and when it is determined that the obstacle affects the mowing operation, the path planning The navigation module 40 plans a new work path.
請參閱第1圖，該路徑規劃導航模組40，其包含有一GPS系統41以及一導航單元42，該自動割草結構100進行割草作業時，藉由該GPS系統41取得該自動割草結構100所在位置，並將位置座標回傳至控制模組50判斷是否有超出工作位置，而該導航單元42除了引導行進路徑外，亦用於引導自動割草結構100進行割草作業。 Referring to FIG. 1 , the path planning navigation module 40 includes a GPS system 41 and a navigation unit 42 . When the automatic mowing structure 100 performs a mowing operation, the automatic mowing structure is obtained by the GPS system 41 . The position is 100, and the position coordinates are transmitted back to the control module 50 to determine whether there is a working position. The navigation unit 42 is used to guide the automatic mowing structure 100 to perform a mowing operation in addition to guiding the traveling path.
本創作主要透過微控制器(arduino)負責系統控制及訊號處理，增加系統的可靠性。 This creation is mainly responsible for system control and signal processing through the microcontroller (arduino) to increase the reliability of the system.
請參閱第1圖，該控制模組進一步配合加速度感測器、電子羅盤計算該自動割草結構的移動位置與方向，使用紅外線感測器與光編碼盤計算驅動輪的轉速。 Referring to FIG. 1 , the control module further calculates the moving position and direction of the automatic mowing structure with an acceleration sensor and an electronic compass, and calculates the rotational speed of the driving wheel by using an infrared sensor and an optical encoder disk.
綜上所述，本創作構成結構均未曾見於諸書刊或公開使用，誠符合新型專利申請要件，懇請 鈞局明鑑，早日准予專利，至為感禱。 In summary, the composition of this creation has not been seen in the publications or public use, and it is in line with the requirements of the new patent application, so please ask the Bureau to identify the patent, and grant the patent as soon as possible.
需陳明者，以上所述乃是本創作之具體實施立即所運用之技 術原理，若依本創作之構想所作之改變，其所產生之功能仍未超出說明書及圖式所涵蓋之精神時，均應在本創作之範圍內，合予陳明。 Those who need to be clarified, the above is the technique that is immediately applied to the specific implementation of this creation. The principle of surgery, if it is changed according to the concept of this creation, the function produced by it is still beyond the spirit of the manual and the drawings, and should be combined with Chen Ming within the scope of this creation.
100‧‧‧自動割草結構 100‧‧‧Automatic mowing structure
10‧‧‧驅動模組 10‧‧‧Drive Module
11‧‧‧驅動器 11‧‧‧ Drive
12‧‧‧驅動輪 12‧‧‧Drive wheel
13‧‧‧光編碼盤 13‧‧‧Light code disk
14‧‧‧紅外線感測器 14‧‧‧Infrared sensor
20‧‧‧割草模組 20‧‧‧ mowing module
21‧‧‧架體 21‧‧‧ ‧ body
22‧‧‧割草刀具 22‧‧‧Mow cutting tool
23‧‧‧升降裝置 23‧‧‧ Lifting device
24‧‧‧旋轉裝置 24‧‧‧Rotating device
25‧‧‧擺動幅度調節裝置 25‧‧‧Swing amplitude adjustment device
30‧‧‧避障模組 30‧‧‧ obstacle avoidance module
31‧‧‧攝影單元 31‧‧‧Photographic unit
32‧‧‧超音波單元 32‧‧‧Supersonic unit
40‧‧‧路徑規劃導航模組 40‧‧‧Path Planning Navigation Module
41‧‧‧GPS系統 41‧‧‧GPS system
42‧‧‧導航單元 42‧‧‧Navigation unit
50‧‧‧控制模組 50‧‧‧Control module
51‧‧‧無線傳輸模組 51‧‧‧Wireless Transmission Module
52‧‧‧遠端控制裝置 52‧‧‧Remote control device
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105218596U TWM541192U (en) | 2016-12-06 | 2016-12-06 | Automatic mowing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105218596U TWM541192U (en) | 2016-12-06 | 2016-12-06 | Automatic mowing structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| TWM541192U true TWM541192U (en) | 2017-05-11 |
Family
ID=59370260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| TW105218596U TWM541192U (en) | 2016-12-06 | 2016-12-06 | Automatic mowing structure |
Country Status (1)
| Country | Link |
|---|---|
| TW (1) | TWM541192U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI665107B (en) * | 2017-12-12 | 2019-07-11 | 財團法人工業技術研究院 | Mobile vehicle, ground treating equipment and orientation adjusting method thereof |
| TWI792905B (en) * | 2022-02-08 | 2023-02-11 | 國立中興大學 | Lawn mower and lawn mowing system with solar charging and wireless charging |
-
2016
- 2016-12-06 TW TW105218596U patent/TWM541192U/en not_active IP Right Cessation
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI665107B (en) * | 2017-12-12 | 2019-07-11 | 財團法人工業技術研究院 | Mobile vehicle, ground treating equipment and orientation adjusting method thereof |
| US10701858B2 (en) | 2017-12-12 | 2020-07-07 | Industrial Technology Research Institute | Mobile vehicle, ground treating equipment and orientation adjusting method thereof |
| TWI792905B (en) * | 2022-02-08 | 2023-02-11 | 國立中興大學 | Lawn mower and lawn mowing system with solar charging and wireless charging |
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